Merge pull request #1 from c-proof/master

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c-proof · Sep 9, 2019 · 1081af7 · 1081af7
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diff --git a/dfo_walle652/missions/GOTO_L10.MA b/dfo_walle652/missions/GOTO_L10.MA
diff --git a/dfo_walle652/missions/SURFAC01.MA b/dfo_walle652/missions/SURFAC01.MA
diff --git a/dfo_walle652/missions/SURFAC05.MA b/dfo_walle652/missions/SURFAC05.MA
diff --git a/dfo_walle652/missions/YO14.MA b/dfo_walle652/missions/YO14.MA
diff --git a/dfo_walle652/missions/goto_l10.ma b/dfo_walle652/missions/goto_l10.ma
@@ -0,0 +1,71 @@
+behavior_name=goto_list
+#  Written by gen-goto-list-ma ver 1.0 on GMT:Tue Feb 19 18:56:54 2002
+#  07-Aug-02 tc@DinkumSoftware.com Manually edited for spawars 7aug02 op in buzzards bay
+#  07-Aug-02 tc@DinkumSoftware.com Changed from decimal degrees to degrees, minutes, decimal minutes
+#  ??-Apr-03 kniewiad@webbresearch.com changed to ashument
+#  17-Apr-03 tc@DinkumSoftware.com fixed comments
+#  2019-Jul-16 cailinburmaster@gmail.com changed waypoints for Explorer Seamount cruise We01-We04
+#  2019-07-21 james.pegg@dfo-mpo.gc.ca added named waypoints for reference and re-arranged to start at W4
+#  2019-07-25 james.pegg@dfo-mpo.gc.ca changed to traverse once and start at first (W1) and added list_when_wpt_dist(m) 500
+#  2019-08-05 tetjana.ross@dfo-mpo.gc.ca changed to traverse continuously around a triangle including P16 and two points 1 km N.
+# changed to start after last achieved
+# 2019-08-27 james.pegg@dfo-mpo.gc.ca changed radius to achieve wpt to 1000m
+# goto_l10.ma
+# Wall_E's waypoint list for Explorer Seamount
+#P1 -12530.0000 4834.5000
+#P2 -12600.0000 4836.0000
+#P3 -12620.0000 4837.5000
+#P4 -12640.0000 4839.0000
+#P5 -12710.0000 4841.5000
+#P6 -12740.0000 4844.6000
+#P7 -12810.0000 4846.6000
+#P8 -12840.0000 4849.0000
+#P9 -12910.0000 4851.4000
+#P10 -12940.0000 4853.6000
+#P11 -13010.0000 4856.0000
+#P12 -13040.0000 4858.2000
+#w1 -13054.4500 4912.9000
+#w2 -13057.0500 4852.4500
+#w3 -13038.4000 4901.3500
+#w4 -13113.5000 4903.4500
+#summit -13056.5305 4903.5242
+#P13 -13140.0000 4902.6000
+#P14 -13240.0000 4907.4000
+#P15 -13340.0000 4912.0000
+#P16nw -13442.0000 4917.5500
+#P16ne -13438.0000 4917.5500
+#P16 -13440.0000 4917.0000
+#P17 -13540.0000 4921.0000
+#P18 -13640.0000 4926.0000
+#P19 -13740.0000 4930.0000
+#P20 -13840.0000 4934.0000
+#P21 -13940.0000 4938.0000
+#P22 -14040.0000 4942.0000
+#P23 -14140.0000 4946.0000
+#P24 -14240.0000 4950.2000
+#P25 -14336.3000 5000.0000
+#P35 -14418.2000 5000.0000
+#P26 -14500.0000 5000.0000
+
+# this file P18-26
+
+<start:b_arg>
+b_arg: list_when_wpt_dist(m) 1000 # if the glider is within 1000m the waypoint is considered as hit
+b_arg: num_legs_to_run(nodim) -1 # loop through points
+b_arg: start_when(enum) 0 # BAW_IMMEDIATELY
+b_arg: list_stop_when(enum) 7 # BAW_WHEN_WPT_DIST
+b_arg: initial_wpt(enum) -1# # 0 to n-1,-1 first after last,-2 closest
+b_arg: num_waypoints(nodim) 10
+<end:b_arg>
+<start:waypoints>
+-13640.0000 4926.0000
+-13740.0000 4930.0000
+-13840.0000 4934.0000
+-13940.0000 4938.0000
+-14040.0000 4942.0000
+-14140.0000 4946.0000
+-14240.0000 4950.2000
+-14336.3000 5000.0000
+-14418.2000 5000.0000
+-14500.0000 5000.0000
+<end:waypoints>
diff --git a/dfo_walle652/missions/sample11.ma b/dfo_walle652/missions/sample11.ma
@@ -0,0 +1,13 @@
+behavior_name=sample
+# sample ctd on every other downcasst
+# 2019-07-27 james.pegg@dfo-mpo.gc.ca Modified from sample10.ma
+
+<start:b_arg>
+    b_arg: sensor_type(enum)                 1  # PROFILE     1  C_PROFILE_ON
+    b_arg: state_to_sample(enum)             1  # 1  diving
+    b_arg: intersample_time(s)               0  # as fast as possible
+    b_arg: nth_yo_to_sample(nodim)           2  # After the first yo, sample only
+    b_arg: intersample_depth(m)             -1  # supersedes intersample_time
+    b_arg: min_depth(m)                     -5  # minimum depth to collect data, default
+    b_arg: max_depth(m)                   2000  # maximum depth to collect data
+<end:b_arg>
diff --git a/dfo_walle652/missions/sample12.ma b/dfo_walle652/missions/sample12.ma
@@ -0,0 +1,14 @@
+behavior_name=sample
+# sample ctd on every 3rd upcast (after first)
+# 2019-07-27 james.pegg@dfo-mpo.gc.ca Modified from sample10.ma
+
+<start:b_arg>
+   b_arg: sensor_type(enum)                  1  # PROFILE     1  C_PROFILE_ON
+   b_arg: state_to_sample(enum)              4  # 4  climbing
+    b_arg: intersample_time(s)               0  # as fast as possible
+    b_arg: nth_yo_to_sample(nodim)          -3  # After the first yo, sample only
+    b_arg: intersample_depth(m)             -1  # supersedes intersample_time
+    b_arg: min_depth(m)                     -5  # minimum depth to collect data, default
+    b_arg: max_depth(m)                   2000  # maximum depth to collect data
+<end:b_arg>
+
diff --git a/dfo_walle652/missions/sample13.ma b/dfo_walle652/missions/sample13.ma
@@ -0,0 +1,14 @@
+behavior_name=sample
+# sample Anderaa optode on every other downcast
+# 2019-07-27 james.pegg@dfo-mpo.gc.ca Modified from sample10.ma
+
+<start:b_arg>
+   b_arg: sensor_type(enum)                  54 # OXY4  54  C_OXY4_ON
+   b_arg: state_to_sample(enum)              1  # 1  diving
+   b_arg: intersample_time(s)                0  # as fast as possible
+   b_arg: nth_yo_to_sample(nodim)            2  # After the first yo, sample only
+   b_arg: intersample_depth(m)              -1  # supersedes intersample_time
+   b_arg: min_depth(m)                      -5  # minimum depth to collect data, default
+   b_arg: max_depth(m)                    2000  # maximum depth to collect data
+<end:b_arg>
+
diff --git a/dfo_walle652/missions/sample14.ma b/dfo_walle652/missions/sample14.ma
@@ -0,0 +1,13 @@
+behavior_name=sample
+# sample Anderaa optode on every 3rd upcast (after first)
+# 2019-07-27 james.pegg@dfo-mpo.gc.ca Modified from sample10.ma
+
+<start:b_arg>
+   b_arg: sensor_type(enum)                  54 # OXY4   54  C_OXY4_ON
+   b_arg: state_to_sample(enum)              4  # 4  climbing
+   b_arg: intersample_time(s)                0  # as fast as possible
+   b_arg: nth_yo_to_sample(nodim)           -3  # After the first yo, sample only
+   b_arg: intersample_depth(m)              -1  # supersedes intersample_time
+   b_arg: min_depth(m)                      -5  # minimum depth to collect data, default
+   b_arg: max_depth(m)                    2000  # maximum depth to collect data
+<end:b_arg>
diff --git a/dfo_walle652/missions/sample15.ma b/dfo_walle652/missions/sample15.ma
@@ -0,0 +1,13 @@
+behavior_name=sample
+# sample ecopuck every other downcast
+# 2019-07-27 james.pegg@dfo-mpo.gc.ca Modified from sample10.ma
+
+<start:b_arg>
+   b_arg: sensor_type(enum)                  48 # FLBBCD 48 C_FLBBCD_ON
+   b_arg: state_to_sample(enum)              1  # 1  diving
+   b_arg: intersample_time(s)                0  # as fast as possible
+   b_arg: nth_yo_to_sample(nodim)            2  # After the first yo, sample only
+   b_arg: intersample_depth(m)              -1  # supersedes intersample_time
+   b_arg: min_depth(m)                      -5  # minimum depth to collect data, default
+   b_arg: max_depth(m)                     200  # maximum depth to collect data
+<end:b_arg>
diff --git a/dfo_walle652/missions/sample16.ma b/dfo_walle652/missions/sample16.ma
@@ -0,0 +1,13 @@
+behavior_name=sample
+# sample ecopuck upper 200m every 3rd upcast (after first)
+# 2019-07-27 james.pegg@dfo-mpo.gc.ca Modified from sample10.ma
+
+<start:b_arg>
+   b_arg: sensor_type(enum)                  48 # FLBBCD 48 C_FLBBCD_ON
+   b_arg: state_to_sample(enum)              4  # 4  climbing
+   b_arg: intersample_time(s)                0  # as fast as possible
+   b_arg: nth_yo_to_sample(nodim)           -3  # After the first yo, sample only
+   b_arg: intersample_depth(m)              -1  # supersedes intersample_time
+   b_arg: min_depth(m)                      -5  # minimum depth to collect data, default
+   b_arg: max_depth(m)                     200  # maximum depth to collect data
+<end:b_arg>
diff --git a/dfo_walle652/missions/surfac01.MA b/dfo_walle652/missions/surfac01.MA
@@ -0,0 +1,27 @@
+behavior_name=surface
+# climb to surface with ballast pump full out
+# pitch servo'ed to 26 degrees
+# Hand Written
+# 10 July 2010 ballsup@webbresearch.com based on legacy surfac10.ma
+# 2017-08-24 lcooney@teledyne.com Added c_use_bpump 0 for Autoballast (M#1557)
+
+# Come up if haven't had comms for a while
+# 2019-Jul-16 cailinburmaster@gmail.com changed  b_arg: when_secs to 46800 # Surface every 12 hours for no comms
+# 2019-Jul-16 cburmaster removed b_arg: when_wpt_dist(m) 10 # how close to waypoint before surface, only if # # start_when==7
+# 2019-Aug-21 cburmaster changed b_arg: when_secs(sec) 61200 # Surface every 17 hours for no comms (double yos)
+
+<start:b_arg>
+
+    b_arg: start_when(enum)         12            # BAW_NOCOMM_SECS 12, when have not had comms for WHEN_SECS secs
+
+    b_arg: when_secs(sec)           61200          # Surface every 17 hours for no comms
+
+    b_arg: end_action(enum)         1             # 0-quit, 1 wait for ^C quit/resume, 2 resume, 3 drift til "end_wpt_dist"
+    b_arg: gps_wait_time(s)         300           # how long to wait for gps
+    b_arg: keystroke_wait_time(sec) 300           # how long to wait for control-C
+    b_arg: c_use_bpump(enum)        0 			  # use autoballast on the surface climb (requires autoballast yo)
+	b_arg: c_use_pitch(enum)        3             # 3:servo
+    b_arg: c_pitch_value(X)         0.4528        # 26 deg
+    b_arg: printout_cycle_time(sec) 60.0 # How often to print dialog
+
+<end:b_arg>
diff --git a/dfo_walle652/missions/SURFAC02.MA → dfo_walle652/missions/surfac02.MA b/dfo_walle652/missions/SURFAC02.MA → dfo_walle652/missions/surfac02.MA
@@ -3,22 +3,20 @@ behavior_name=surface
 # pitch servo'ed to 26 degrees
 # Hand Written
 # 10 July 2010 ballsup@webbresearch.com based on legacy surfac10.ma
+# 2017-08-24 lcooney@teledyne.com Added c_use_bpump 0 for Autoballast (M#1577)
 
 #  Come up when mission done
 #  This is determined by no one steering in x-y plane (no waypoints)
 
 <start:b_arg>
 
     b_arg: start_when(enum)         3             # 0-immediately, 1-stack idle 2-pitch idle 3-heading idle
-    b_arg: end_action(enum)         0             # 0-quit, 1 wait for ^C quit/resume, 2 resume, 3 drift til "end_wpt_dist"
+    b_arg: end_action(enum)         0     # 0-quit, 1 wait for ^C quit/resume, 2 resume, 3 drift til "end_wpt_dist"
     b_arg: gps_wait_time(s)         300           # how long to wait for gps
     b_arg: keystroke_wait_time(sec) 180           # how long to wait for control-C
     b_arg: when_wpt_dist(m)         10            # how close to waypoint before surface, only if start_when==7
+    b_arg: c_use_bpump(enum)    0  # use autoballast on surface climb (requires autoballast yo)
     b_arg: c_use_pitch(enum)        3             # 3:servo
     b_arg: c_pitch_value(X)         0.4538        # 26 deg
 
 <end:b_arg>
-
-
-
-
diff --git a/dfo_walle652/missions/SURFAC03.MA → dfo_walle652/missions/surfac03.MA b/dfo_walle652/missions/SURFAC03.MA → dfo_walle652/missions/surfac03.MA
@@ -4,6 +4,7 @@ behavior_name=surface
 # Hand Written
 # 10 July 2010 ballsup@webbresearch.com based on legacy surfac10.ma
 # 08 June 2012 ballsup@webbresearch.com increased surface time to "normal"
+# 2017-08-24 lcooney@teledyne.com Added c_use_bpump 0 for Autoballast (M#1577)
 
 # Come up briefly if "yo" finishes 
 # This happens if a bad altimeter hit causes a dive and climb to
@@ -16,11 +17,8 @@ behavior_name=surface
     b_arg: gps_wait_time(s)         300           # how long to wait for gps
     b_arg: keystroke_wait_time(sec) 300           # how long to wait for control-C
     b_arg: when_wpt_dist(m)         10            # how close to waypoint before surface, only if start_when==7
+    b_arg: c_use_bpump(enum)    0  # use autoballast on surface climb (requires autoballast yo)
     b_arg: c_use_pitch(enum)        3             # 3:servo
     b_arg: c_pitch_value(X)         0.4538        # 26 deg
 
 <end:b_arg>
-
-
-
-
diff --git a/dfo_walle652/missions/SURFAC04.MA → dfo_walle652/missions/surfac04.MA b/dfo_walle652/missions/SURFAC04.MA → dfo_walle652/missions/surfac04.MA
@@ -3,6 +3,7 @@ behavior_name=surface
 # pitch servo'ed to 26 degrees
 # Hand Written
 # 10 July 2010 ballsup@webbresearch.com based on legacy surfac10.ma
+# 2017-08-24 lcooney@teledyne.com Added c_use_bpump 0 for Autoballast (M#1577)
 
 # Come up every way point
 
@@ -13,12 +14,9 @@ behavior_name=surface
     b_arg: gps_wait_time(s)         300           # how long to wait for gps
     b_arg: keystroke_wait_time(sec) 300           # how long to wait for control-C
     b_arg: when_wpt_dist(m)         10            # how close to waypoint before surface, only if start_when==7
+    b_arg: c_use_bpump(enum)    0  # use autoballast on surface climb (requires autoballast yo)
     b_arg: c_use_pitch(enum)        3             # 3:servo
     b_arg: c_pitch_value(X)         0.4538        # 26 deg
     b_arg: printout_cycle_time(sec) 60.0 # How often to print dialog
 
 <end:b_arg>
-
-
-
-
diff --git a/dfo_walle652/missions/SURFAC06.MA → dfo_walle652/missions/surfac05.MA b/dfo_walle652/missions/SURFAC06.MA → dfo_walle652/missions/surfac05.MA
@@ -1,24 +1,21 @@
-behavior_name=surface
-# climb to surface with ballast pump full out
-# pitch servo'ed to 26 degrees
-# Hand Written
-# 10 July 2010 ballsup@webbresearch.com based on legacy surfac10.ma
-
-# Come up every three hours
-
-<start:b_arg>
-
-    b_arg: start_when(enum)         9 		  # 9-every when_secs
-    b_arg: end_action(enum)         1             # 0-quit, 1 wait for ^C quit/resume, 2 resume, 3 drift til "end_wpt_dist"
-
-    b_arg: when_secs(s)             10800           # How long between surfacing, only if start_when==6 or 9
-
-
-    b_arg: gps_wait_time(s)         300           # how long to wait for gps
-    b_arg: keystroke_wait_time(sec) 300           # how long to wait for control-C
-    b_arg: when_wpt_dist(m)         10            # how close to waypoint before surface, only if start_when==7
-    b_arg: c_use_pitch(enum)        3             # 3:servo
-    b_arg: c_pitch_value(X)         0.4538        # 26 deg
-    b_arg: printout_cycle_time(sec) 60.0 # How often to print dialog
-
-<end:b_arg>
+behavior_name=surface
+# climb to surface with ballast pump full out
+# pitch servo'ed to 26 degrees
+# Hand Written
+# 10 July 2010 ballsup@webbresearch.com based on legacy surfac10.ma
+# 2017-08-24 lcooney@teledyne.com Added c_use_bpump 0 for Autoballast (M#1577)
+
+# Come up when requested by science
+
+<start:b_arg>
+
+    b_arg: start_when(enum)         11 		  # BAW_SCI_SURFACE
+    b_arg: end_action(enum)         1             # 0-quit, 1 wait for ^C quit/resume, 2 resume, 3 drift til "end_wpt_dist"
+    b_arg: gps_wait_time(s)         300           # how long to wait for gps
+    b_arg: keystroke_wait_time(sec) 300           # how long to wait for control-C
+    b_arg: when_wpt_dist(m)         10            # how close to waypoint before surface, only if start_when==7
+    b_arg: c_use_bpump(enum)    0  # use autoballast on surface climb (requires autoballast yo)
+    b_arg: c_use_pitch(enum)        3             # 3:servo
+    b_arg: c_pitch_value(X)         0.4538        # 26 deg
+
+<end:b_arg>
diff --git a/dfo_walle652/missions/surfac06.MA b/dfo_walle652/missions/surfac06.MA
@@ -0,0 +1,27 @@
+behavior_name=surface
+# climb to surface with ballast pump full out
+# pitch servo'ed to 26 degrees
+# Hand Written
+# 10 July 2010 ballsup@webbresearch.com based on legacy surfac10.ma
+# 2017-08-24 lcooney@teledyne.com Added c_use_bpump 0 for Autoballast (M#1577)
+
+# Come up every six hours
+# 2019-Jul-16 cailinburmaster@gmail.com changed b_arg: when_secs(s)             21600  
+
+<start:b_arg>
+
+    b_arg: start_when(enum)         9 		  # 9-every when_secs
+    b_arg: end_action(enum)         1             # 0-quit, 1 wait for ^C quit/resume, 2 resume, 3 drift til "end_wpt_dist"
+
+    b_arg: when_secs(s)             21600           # How long between surfacing, only if start_when==6 or 9
+
+
+    b_arg: gps_wait_time(s)         300           # how long to wait for gps
+    b_arg: keystroke_wait_time(sec) 300           # how long to wait for control-C
+    b_arg: when_wpt_dist(m)         10            # how close to waypoint before surface, only if start_when==7
+    b_arg: c_use_bpump(enum)    0  # use autoballast on surface climb (requires autoballast yo)
+    b_arg: c_use_pitch(enum)        3             # 3:servo
+    b_arg: c_pitch_value(X)         0.4538        # 26 deg
+    b_arg: printout_cycle_time(sec) 60.0 # How often to print dialog
+
+<end:b_arg>